Introduction to Control
Systems II
Jesús David González Llorente
Introduce yourself
1. Full Name
2. A movie that you would recommend us
3. Your experience in control systems
4. What have you heard about this course?
Outline
• Overview of Control Engineering
• Syllabus
• Administrivia
• Course objectives
• References
• Student outcomes
• Topics
• Grading
• Pre-Test
Syllabus (Administrivia)
• Control Systems II
• Code: 1810042
• Credits: 3
• Course meetings times (Two sessions - 4 hours)
• Tue: 9:00-11:00 (B-105)
• Thu: 9:00-11:00 (B-104 )
• Office hours (2 hours) (You should ask for a meeting)
• Wed: 13:30 – 15:30
• Pre-requisite:
• Control Systems I / Digital Systems III
What is engineering?
Engineering
“Engineering is the application of scientific, economic, social, and
practical knowledge in order to invent, design, build, maintain,
research, and improve structures, machines, devices, systems,
materials, and processes.”
(Wikipedia)
What is engineering?
• “CONCEPTO DE INGENIERÍA. Se entiende por
ingeniería toda aplicación de
las ciencias físicas, químicas y matemáticas; de
la técnica industrial y en general, del ingenio humano,
a la utilización e invención sobre la materia.”
• Artículo No. 1, Ley 842 de 2003
Por la cual se modifica la reglamentación del
ejercicio de la ingeniería, de sus profesiones afines y de sus profesiones auxiliares,
se adopta el Código de Ética Profesional y se dictan otras disposiciones
Definición de ingeniería
“Ingeniería es la profesión en la que el conocimiento de las ciencias
matemáticas y naturales adquiridas mediante el estudio, la experiencia
y la práctica, se emplea con buen juicio a fin de desarrollar modos en
que se puedan utilizar, de manera óptima los materiales y las fuerzas de
la naturaleza en beneficio de la humanidad, en el contexto de
restricciones éticas, físicas, económicas, ambientales, humanas,
políticas, legales y culturales.”
Tomado del informe del Estudio del vocablo Ingeniería presentado a la CONFEDI (Consejo
Federal de Decanos de Ingeniería de la República Argentina), en 2001.
What is control engineering?
Control engineering
• Control engineering or control systems engineering is the engineering
discipline that applies control theory to design systems with desired
behaviors. The practice uses sensors to measure the output performance
of the device being controlled and those measurements can be used to
give feedback to the input actuators that can make corrections toward
desired performance. When a device is designed to perform without the
need of human inputs for correction it is called automatic control (such as
cruise control for regulating the speed of a car). Multi-disciplinary in
nature, control systems engineering activities focus on implementation of
control systems mainly derived by mathematical modeling of systems of a
diverse range.
(From Wikipedia)
Automation Pyramid
What are you going to learn?
Syllabus (Course objectives)
• Recognize characteristics and components of digital control systems
for single-input single-output physical systems.
• Discretize simple physical systems and analyze the transient and
steady-state response.
• Design a single-input single-output feedback controller capable of
achieving the design criteria for the system.
• Implement a digital controller using a digital computer and software,
and validate the performance of the closed-loop system
Syllabus (References)
• Textbooks
• Titulo: Digital Control System Analysis & Design
• Autores: Charles L. Phillips, Troy Nagle, Aranya Chakrabortty
• Editorial: Prentice Hall
• Edición: (4th Edition)
• Año: 2014
• Ogata, Modern Control Engineering and Golnaragui & Kuo, Automatic Control
Systems
• Franklin, Gene F., J. David Powell, and Michael L. Workman. Digital Control of
Dynamic Systems. 3rd ed. Upper Saddle River, NJ: Prentice Hall, 1997
• Scientific databases
How do you learn?
How do you learn? (learning styles)
1. I need practical, real-world applications before I can understand
something, but all we get in class is theory that doesn't relate to
anything I know about.
2. I need worked-out examples before I can understand mathematical
theories and formulas, but all we get are a few trivial examples, or
no examples at all.
3. I want to understand how and why things work, but all we get are
facts and formulas to memorize.
4. I understand what I see--pictures, diagrams, sketches, flow charts,
demonstrations--better than what I hear and read, but all we get
are words and formulas.
What are the expected skills,
attitudes, and habits of mind
that you must take?
Syllabus (Student outcomes)
• an ability to apply knowledge of mathematics, science and
engineering
• an ability to design and conduct experiments, as well as to analyze
and interpret data
• an ability to identify, formulate, and solve engineering problems
• an ability to communicate effectively (orally, written)
• an ability to use the techniques, skills, and modern engineering tools
necessary for engineering practice.
What are the main subjects
of this course?
Syllabus (Topics)
Digital control systems and Modern control systems
• Feedback computer controlled systems.
• The components of digital control systems.
• System models on the z-domain (z-transfer functions) and on the time domain
(state variable representations).
• The objectives for system design and evaluation of system performance.
• Design of discrete-time controllers including PID-controllers, state and output
feedback controllers.
• Estimation of states using observers.
The systems with the designed controllers are tested by simulations and implementation
How are you going to be evaluated?
Grading
• 1st and 2nd term (2 x 30%)
• Lab Assigments (10%)
• Quizzes and Project advances* (10%)
• One Exam (10%)
• 3rd term (40%)
• Quizzes and Project (20%)
• One Exam (20%)
• Project advancement
consists of report and
presentation
• Final Project consists
of report and
presentation
• Homeworks and
quizzes will be study
material
Grading (Exam)
• The written exams are closed-book.
• In the exams, one letter sheet with handwritten formulas will be
permitted. (One side)
• The exams will occur during the regular examination period, as
scheduled by the university. In the first class of the first week.*
“My teachers have the truth, the wisdom, the tricks of the
trade. Their job is to feed it all to me in lectures, and my job is
to soak it up and then repeat it on homework and exams. If I
can do that, I've learned what I need to know...and that's the
only way I can learn it.”
Think!
What do you already know about
control systems?
Pre-test
• A mechanical rotatory system is described by
where J is the moment of inertia, θ(t) is angle that will be controlled
and τ(t) is the applied torque.
(a) Derive the transfer function.
(b) Derive the state-variable model
